Summary: Mission Planning and Execution Control for Intervention Robots \Lambda
Raja Chatila Fran¸cois F'elix Ingrand
Rachid Alami
Laboratoire d'Analyse et d'Architecture des Syst`emes du CNRS
LAAS ­ CNRS
7, Avenue du Colonel Roche 31077 Toulouse Cedex ­ France
e­mail: fraja, felix, rachidg@laas.fr
Abstract: We describe in this paper a complete
architecture for action planning and execution for in­
tervention robots. The architecture is based on a de­
composition of the robotic system into a Ground Sta­
tion that embeds the functions for mission planning
and teleprogramming, and an on­board system on the
remote robot. This last system is decomposed into
two main levels: a ``decisional level'' that interprets
the mission according to the actual execution context
and controls its execution by a ``functional level'' em­
bedding the necessary processings for action and per­
ception. The decisional level makes use of PRS, a
procedural reasoning system that will be presented.